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ros: launch files for offboard postion setpoints demo

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This commit is contained in:
Thomas Gubler 2015-02-15 18:34:27 +01:00
parent 1a6cbe170c
commit 39a105df73
2 changed files with 24 additions and 12 deletions
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10
launch/gazebo_ardrone_empty_world_offboard_demo.launch Normal file
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@ -0,0 +1,10 @@
<launch>
<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
<include file="$(find px4)/launch/mavros_sitl.launch" />
<group ns="px4_multicopter">
<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
</group>
</launch>

26
launch/mavros_sitl.launch
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@ -2,18 +2,20 @@
<!-- vim: set ft=xml noet : -->
<!-- example launch script for PX4 based FCU's -->
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="50" />
<group ns="px4_multicopter">
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="50" />
<include file="$(find mavros)/launch/node.launch">
<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<include file="$(find mavros)/launch/node.launch">
<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
</include>
</group>
</launch>